CN101164636A - Laser acupuncture and moxibustion therapeutic instrument based on PID control - Google Patents

Laser acupuncture and moxibustion therapeutic instrument based on PID control Download PDF

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Publication number
CN101164636A
CN101164636A CNA2007100615307A CN200710061530A CN101164636A CN 101164636 A CN101164636 A CN 101164636A CN A2007100615307 A CNA2007100615307 A CN A2007100615307A CN 200710061530 A CN200710061530 A CN 200710061530A CN 101164636 A CN101164636 A CN 101164636A
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China
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pid control
laser
acupuncture
treatment instrument
speed
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CNA2007100615307A
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Chinese (zh)
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李成伟
黄贞
林英
晋志高
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Yanshan University
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Yanshan University
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Abstract

The present invention discloses a laser acupuncture therapeutic equipment based on PID control. It is characterized by that the light-sensing diode can be used for converting output power of semiconductor laser into equiproportional current signal, after the current signal is passed through light power monitoring circuit, said current signal is converted into equiproportional voltage signal, then the voltage signal can be transferred into A/D convertor to make A/D conversion; the converted digital signal and specified value are formed into control deviation, a chip computer is used to make PID control operation to form a control quantity; after the digital signal is passed through the D/A convertor, it can be used for controlling drive current of LD so as to control laser power to implement reinforcing and reducing by lifting and thrusting the needle of acupuncture therapy.

Description

Based on PID control laser acupuncture treatment instrument
Technical field
The present invention combines traditional Chinese medicine acupuncture theory and practice and the Medical Instruments of inventing with the modern instrument science and technology, be as controlling platform with the MSP430 single-chip microcomputer, the classical PID control theory is incorporated in the laser diode power control, and introduce the chaos mathematical model method realize novel dynamically, deep layer and the easily simulation of the moxibustion method of control, can realize the acupuncture reinforcing and reducing manipulation the most basic in traditional traditional Chinese medical science and the semiconductor laser acupuncture therapeutic instrument of moxibustion reinforcing and reducing method.
Background technology
Modern development in science and technology and bonded road have progressively been gone in the research and development of modern acupuncture and moxibustion therapy instrument, especially on based on the Traditional Chinese medical theory basis, in conjunction with computer, the perfect performance of multiple technologies such as microelectronics and laser exploitation and powerful Artificial Intelligence Instrument, be that traditional Chinese medicine acupuncture theory and practice combines with the important of modern instrument science and technology, the laser acupuncture and moxibustion treatment is with painless, do not have and infect, there is not obviously taboo cave, safety, do not have a fainting spell during acupuncture treatment and dose controlled, advantage such as easy and simple to handle is widely used in internal medicine, surgery, gynecological, department of pediatrics, department of neurology, department of dermatologry, the department of stomatology, each section such as otorhinolaryngology.Yet, present various laser acupuncture and moxibustion instrument also exists shortcoming and defect: the illuminating method that certain wavelength laser acupuncture is simple, as He-Ne laser acupuncture and moxibustion instrument etc., adopt the direct irradiation of continuous, this is a kind of simple working mode, but treat also the simplest all very single aspect Therapeutic Method and acupuncture skill, lack motility, more can't realize Chinese medicine acupuncture theory of extensive knowledge and profound scholarship, and the employing pulsed laser irradiation, this is improved to some extent, can export simply by simple electronic circuit, the irradiates light signal of certain rule, but generally speaking this mode can only simply be simulated the simplest acupuncture skill in the traditional acupuncture, and can't reach the realization that combines of acupuncture and moxibustion effect, and also there is the shortcoming that is adapted to by human body easily in sort signal usually.Micro-processor controlled laser acupuncture and moxibustion apparatus afterwards adopts microcomputer to control CO2 laser instrument and He-Ne laser instrument Switching Power Supply respectively, make its simulated laser pin and laser moxibustion respectively, realize that from software it changes by the acupuncture rule, but it is big that the deficiency of this type maximum is exactly the instrument volume and weight, makes troubles to use.How long the light source that it is reported reaches one meter, and only light source just has more than 100 jin of weight, and moreover, expensive price also makes it enter into family healthcare and is restricted.
Along with developing rapidly of modern medical instrument and apparatus for acupuncture and moxibustion, there is the scholar on research practice and understanding basis for many years, to propose the theory of " human body dynamically, deep layer stimulate ", promptly must is dynamically and has the deep layer effect of stimulation effective, the suitable stimulus signal of body system to the traditional acupuncture main idea.This theory is that the empirical science of traditional acupuncture is summed up, and also is that this theory not only is used for instructing the exploitation of modern acupuncture apparatus from the theoretic lifting of engineering angle, also can be used to instruct clinical practice.At present, many acupuncture and moxibustion therapeutic apparatus are arranged on the market, all exist output signal not satisfy the dynamic requirement mostly, do not satisfy the regular requirement that meets traditional Chinese medical science traditional acupuncture method, such as not realizing also having on the reinforcing and reducing method of moxibustion even some has satisfied the dynamic requirement.In other words, all both at home and abroad acupuncture and moxibustion therapeutic apparatus based on signal stimulus are also with what enriched constantly in several thousand, be facts have proved very effectively and meet human body to adjust the moxibustion therapy of the natural law and be integrated in the modern medical instrument and apparatus for acupuncture and moxibustion.
Summary of the invention
In order to solve the prior art above shortcomings, the invention provides a kind of based on PID control laser acupuncture treatment instrument, this invention can realize the dynamic dull effect of stimulation of traditional moxibustion therapy, can realize that acupuncture reinforcing and reducing manipulation the most basic in traditional traditional Chinese medical science and moxibustion are mended to let out maneuver.
The technical solution adopted for the present invention to solve the technical problems is: with the MSP430 series monolithic as controlling platform; selecting output rated power for use is 30mW; wavelength be the AlGaInP semiconductor laser of 650nm as light source, also comprise semiconductor laser, light sensitive diode, optical power monitoring circuit, AD converter, MSP430 single-chip microcomputer main control circuit, PID control, DA transducer, laser drive circuit, laser radiation circuit, DC motor control circuit and optical system based on PID control laser acupuncture treatment instrument.
In order to realize the dynamic stimulus effect of traditional moxibustion therapy, insect is introduced into the present invention as a chaos mathematical model, by adopting the chaos sequence duty cycle signals to eliminate the human body adaptability, adjust and the change of control output duty cycle with the realization of the reinforcing and reducing method that reaches moxibustion.
The present invention uses graphing method the influence of parameter to chaos is discussed, and select suitable parameter and initial value, by insect (x by to the chaos mathematical model N+1=μ x n(1-x n)) iteration produce a series of cut-ofves [0,1] chaos sequence, Single Chip Microcomputer (SCM) program carry out adding up in each cycle after chaos sequence is carried out the processing of mathematical method, thereby reach the increasing or decreasing of dutycycle, realize reinforcing and reducing method with the corresponding numerical value of chaos sequence.In one-period, high level and low level are arranged, the high level correspondence has stimulation, and the low level correspondence is non-stimulated.Have non-stimulated variation to form dynamic stimulus in the one-period, this variation has simultaneously formed the rule that stimulates, and adjusts the interior high-low level of one-period and changes dutycycle, can realize the adjusting of intensity.The adjusting of frequency is exactly the time length adjusting in cycle.
The present invention is based on above digital controlled signal, have the dynamic stimulus characteristic, this dynamic deep layer stimulus signal can directly arrive or near the acupuncture points on the human body of certain depth under the skin, promotion is through the gas propagated sensation, focal arrival of acu-esthesia, the adjustment function of exciting human self reaches the purpose of curing the disease.
The present invention has adopted closed loop feedback, the method of PID control, utilize the control of digital PID control algolithm realization simultaneously to traditional traditional Chinese medical science acupuncture algorithm, promptly utilize the characteristic of light sensitive diode, monitoring is from the light intensity of LD output, be converted into the signal of telecommunication, after amplifying through signal, send the A/D converter conversion.Digital signal after the conversion and set-point constitute control deviation, carry out pid control computation by single-chip microcomputer, constitute controlled quentity controlled variable, the drive current of LD is controlled, thus the control laser power.PID control has that algorithm is simple, robustness good and the reliability advantages of higher, has therefore adopted closed loop PID to control, and has guaranteed to flow through the stability of the electric current of LD, and the capacity of resisting disturbance of system is strengthened greatly.
The invention has the beneficial effects as follows: this therapeutic instrument also has time and adjustable power except that the common function that has possessed laser acupuncture and moxibustion apparatus, the needled conventionally reinforcing and reducing method is optional, characteristics such as laser irradiation safe dose may command.It can replace traditional acupuncture, and has the many incomparable advantages of traditional acupuncture, and the present invention can move towards family from hospital, and popularization becomes the community medicine health promoting product.
Description of drawings
Fig. 1 is based on the system architecture diagram of PID control laser acupuncture treatment instrument;
Fig. 2 is based on the circuit diagram of PID control laser acupuncture treatment instrument;
Fig. 3 is based on the structured flowchart of PID control laser acupuncture treatment instrument light path generator;
Fig. 4 is based on the structure chart of PID control laser acupuncture treatment instrument light path generator;
Fig. 5 is the flow chart of increment type PID algorithm;
Fig. 6 is that acupuncture skill is selected flow chart.
The specific embodiment
Embodiment
Fig. 1 is disclosed to be one embodiment of the present of invention, light sensitive diode (PD) 2 is converted into the output of semiconductor laser (LD) 1 current signal of equal proportion, this current signal is by behind the optical power monitoring circuit 3, be converted into the voltage signal of equal proportion, again this voltage signal is sent the A/D translation interface 4 of MSP430 single-chip microcomputer, carry out the A/D conversion.Digital signal after the conversion and set-point constitute control deviation, carry out pid control computation by single-chip microcomputer 5, constitute controlled quentity controlled variable.Control through the drive current of D/A conversion back noise spectra of semiconductor lasers (LD) 1 again.Thereby the control laser power is reinforcing and reducing by lifting and thrusting to realize.The speed that luminous power increases is heavily inserting with light in the reinforcing and reducing and inserts, and the speed of minimizing is bringing up again and gently proposing in the reinforcing and reducing; The amplitude of variation of luminous power is the amplitude of acupuncture; The change frequency of luminous power is the speed frequency of acupuncture.The digital signal of process software design is after D/A converter 7 conversions, and the rotating speed speed of control direct current generator 10 by driving optical system 11 rotations, rotates the line polarized light electric vector, realizes re-enforcing and reducing by twis ting and twirling of the needle.The speed of electric vector rotation is the twisted frequency speed of acupuncture, and its size is corresponding to the twisted dynamics weight of acupuncture.
In Fig. 2, power supply is by the 5V battery powered, and single-chip microcomputer MSP430F169 power Vcc is 3.3V.The external JTAG debugger of single-chip microcomputer TMS, TCK, TDI, TDO and RST/NMI is connected with PC and carries out on-line debugging and exploitation.P6.0 be the AO passage of ADC 4 as input, connect the luminous power sample circuit.The luminous power sample circuit is made up of amplifier LM358, resistance R 6～R8, light sensitive diode PD, P6.6 be the DACO of DAC7 as outfan, the input voltage V of control semiconductor laser (LD) 1 drive circuit In, its output voltage is used to drive semiconductor laser (LD) 1, and controls the variation of its electric current, and then controls the variation of its luminous power.P1.0 and P2.0 connect the current foldback circuit 9 of semiconductor laser (LD) 1, are used for overcurrent condition is controlled.Laser drive circuit 8 and holding circuit 9 are made up of operational amplifier U3～U4, diode D1～D4, audion Q1～Q2, capacitor C 1～C6, resistance R 1～R3, relay K; P6.7 is that the DAC1 of DAC 7 is as outfan; connect control of DC circuit 10; control the input voltage of direct current generator by the difference of P6.7 output voltage values, with control rotating speed of motor speed.The control of DC circuit is made up of direct current generator FF-030PK, operational amplifier U5, resistance R 4, audion Q3, diode D5.
In Fig. 3, behind the laser of the certain angle of divergence of band that semiconductor laser (LD) 1 the sends process lens A13, for directional light impinges perpendicularly on quarter-wave plate 14.Because semiconductor laser (LD) 1 emitting laser is a partial polarized light, when it becomes circularly polarized light through behind the quarter-wave plate 14, and impinge perpendicularly on linear polarizer 15, when direct current generator 18 drives the linear polarizer rotation, the electric vector that incides the laser of lens B 16 will promptly realize the re-enforcing and reducing by twis ting and twirling of the needle of needled conventionally reinforcing and reducing thereupon with certain angular velocity rotation.The angular velocity of rotation of linear polarizer is big, and then corresponding twisted frequency is fast, and angular velocity is little, otherwise then.The weight of the big and little then corresponding twisted dynamics of incident light intensity with gently.At last by lens B 16 with laser convergence in optical fiber 17, again by treatment 12 irradiation human bodies.
Among Fig. 4; semiconductor laser (LD) 1 is installed in the radiator (4-10); lens A 13 is installed on the picture frame (4-9); picture frame is fixed in the sleeve pipe (4-8); sleeve pipe (4-8) is locked at an end of support (4-6) with hexagonal locking nut (4-7); motor (4-1) places on the fin (4-10); have cog (4-2) on the motor shaft; lower gear (4-3) places outside the pipe box (4-8); and cement with 202 glue and hexagonal locking nut (4-7); quarter wave plate 14 is installed in sleeve pipe (4-7) end, and linear polarizer 15 usefulness, 202 glue and lower gear (4-3) cement, and lens B 16 is fixed on the linear polarizer 15; optical fiber 17 installs fiber optic protection sleeve pipe (4-5) additional; be screwed on the other end of support (4-6), regulate the position of optical fiber, the ball street corner of optical fiber accurately is positioned on the focus of lens B 16.
In Fig. 5, press the analog pid control algolithm, represent continuous time with a series of sampling instant point kT t, with formula for integration, with the approximate differential that replaces of single order backward difference, get final product discrete location formula PID expression formula:
u ( k ) = k p ( e ( k ) + T T I Σ j = 0 k e ( j ) + T D T ( e ( k ) - e ( k - 1 ) ) ) =
k p e ( k ) + k p T T I Σ j = 0 k e ( j ) + k p T D T ( e ( k ) - e ( k - 1 ) )
In the formula, k pBe the ratio coefficient; T IBe integration time constant; T DBe derivative time constant; Can get by the recursion principle: u ( k - 1 ) = k p e ( k - 1 ) + k p T T I Σ j = 0 k - 1 e ( j ) + k p T D T ( e ( k - 1 ) - e ( k - 2 ) )
Then:
Δu(k)＝u(k)-u(k-1)＝k p(e(k)-e(k-1))+k ie(k)+k d(e(k)-2e(k-1)+e(k-2)))
Wherein k i = k p T T I , k d = k p T D T
e(k)＝r(k)-y(k)；
U (k)----output valve of----the k time sampling instant;
U (the k-1)--output valve of----the k-1 time sampling instant;
Δ u (k)--the control increment of----output;
The input deviation value of the k time sampling instant of e (k)----;
R (k)--------set-point;
Y (k)--------measured value;
The T----------sampling period.
In Fig. 6, system carries out initialization to single-chip microcomputer, by being set, flag bit flag selects Continuous irradiation for " 0 " " 1 " " 2 ", acupuncture and moxibustion, provide reinforcing and reducing by lifting and thrusting in the acupuncture, re-enforcing and reducing by twis ting and twirling of the needle, the manipulation of acupuncture such as rapid-slow reinforcing-reducing method and even reinforcing-reducing method is selected, being set to " 1 " " 2 " " 3 " " 4 " by aflag selects, the bird-pecking moxibustion method that provides is provided in the moxibustion, selections such as chaos sequence moxibustion therapy and reinforcing and reducing method, being set to " 1 " " 2 " by mflag selects, in mode 2, be set to " 0 " and " 1 " by SelAB and come to set selection to mending and rushing down two kinds of maneuvers, " 2 " are the chaos sequence waveform.

Claims (10)

1. one kind based on PID control laser acupuncture treatment instrument, comprise semiconductor laser (1), light sensitive diode (2), optical power monitoring circuit (3), A/D converter (4), single-chip microcomputer main control circuit (5), PID controls (6), D/A converter (7), laser drive circuit (8), laser radiation circuit (9), DC motor control circuit (10) and optical system (11), it is characterized in that: light sensitive diode (2) is converted into the output of semiconductor laser (1) current signal of equal proportion, this current signal is by behind the optical power monitoring circuit (3), be converted into the voltage signal of equal proportion, again this voltage signal is sent A/D converter (4), carry out the A/D conversion; Digital signal after the conversion and set-point constitute control deviation, carry out PID control (6) computing by single-chip microcomputer, constitute controlled quentity controlled variable; Pass through D/A converter (7) back again the drive current of LD (1) is controlled, thereby the control laser power is reinforcing and reducing by lifting and thrusting to realize.
2. according to claim 1 based on PID control laser acupuncture treatment instrument, it is characterized in that: the digital signal of process software design is after D/A converter (7) conversion, the rotating speed speed of control direct current generator (10), by driving optical system (11) rotation, make the rotation of line polarized light electric vector, realize re-enforcing and reducing by twis ting and twirling of the needle.
3. according to claim 1 and 2 based on PID control laser acupuncture treatment instrument, it is characterized in that: single-chip microcomputer main control circuit (5) with the MSP430 series monolithic as controlling platform, the output rated power of semiconductor laser (1) is 30mW, and wavelength is 650nm.
4. according to claim 1 based on PID control laser acupuncture treatment instrument, it is characterized in that: the drive current that adopts digital PID control laser diode.
5. according to claim 1 based on PID control laser acupuncture treatment instrument, it is characterized in that: the speed of the speed that increases by luminous power is that heavily inserting with light in the reinforcing and reducing inserted, and the speed of the speed of minimizing is bringing up again and gently carrying in the reinforcing and reducing; The amplitude of variation of luminous power is the amplitude of acupuncture; The change frequency of luminous power is the speed frequency of acupuncture.
6. according to claim 1 based on PID control laser acupuncture treatment instrument, it is characterized in that: the value that insect is produced by Single Chip Microcomputer (SCM) program is [0,1] chaos sequence carries out the processing of mathematical method, thereby reach the increasing or decreasing of dutycycle, realize the moxibustion reinforcing and reducing method with the corresponding numerical value of chaos sequence.
7. according to claim 1 based on PID control laser acupuncture treatment instrument, it is characterized in that: optical system (11) is made up of lens A (12), quarter wave plate (13), linear polarizer (14), lens B (15), medical optical fiber (16); Rotation by the line polarized light electric vector realizes the re-enforcing and reducing by twis ting and twirling of the needle maneuver, and the rotation of line polarized light electric vector is twisted, and the speed of electric vector rotation is the twisted frequency speed of acupuncture, and its size is corresponding to the twisted dynamics weight of acupuncture.
8. according to claim 1 based on PID control laser acupuncture treatment instrument, it is characterized in that: semiconductor laser (LD) (1) is installed in the radiator (4-10) of optical system (11), picture frame (4-9) is housed in the radiator (4-10), lens A (13) are installed in the picture frame (4-9).
9. according to claim 8 based on PID control laser acupuncture treatment instrument; it is characterized in that: picture frame (4-9) is fixed in the sleeve pipe (4-8); sleeve pipe (4-8) is locked at an end of support (4-6) with hexagonal locking nut (4-7), and the other end of support (4-6) is installed optical fiber (17) and fiber optic protection sleeve pipe (4-5).
10. according to claim 8 based on PID control laser acupuncture treatment instrument, it is characterized in that: motor (4-1) places on the fin (4-10), lower gear (4-3) engagement that the gear of motor shaft (4-2) is outer with placing pipe box (4-8), quarter wave plate (14) is installed in sleeve pipe (4-7) end, linear polarizer (15) cements with lower gear (4-3), and lens B (16) is fixed on the linear polarizer (15).
CNA2007100615307A 2007-02-07 2007-02-07 Laser acupuncture and moxibustion therapeutic instrument based on PID control Pending CN101164636A (en)

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102500067A (en) * 2011-11-02 2012-06-20 江南大学 Ultrasonic moxibustion instrument
CN106033143A (en) * 2015-03-19 2016-10-19 上海和辉光电有限公司 Circular polarization framework and adjusting method thereof
CN106511076A (en) * 2016-12-22 2017-03-22 白云绮 Acupuncture instrument capable of transmitting terahertz quantum wave information
CN109341566A (en) * 2018-08-30 2019-02-15 南京理工大学 A kind of round-the-clock online two-dimensional contour shape detector of stand alone type
CN109350510A (en) * 2018-08-27 2019-02-19 重庆市中医院 A kind of automatic fire needle therapeutic apparatus and its operating method
CN110051537A (en) * 2019-05-22 2019-07-26 赵升 A kind of smooth spoke internal heat type acupuncture needle
CN111132422A (en) * 2019-12-10 2020-05-08 中移（杭州）信息技术有限公司 Tunnel management method, device and system
CN111345916A (en) * 2020-04-23 2020-06-30 合肥工业大学 Intelligent oral cavity laser therapeutic instrument
CN111736523A (en) * 2020-06-23 2020-10-02 吉林省科英激光股份有限公司 Control system and method capable of realizing zero position compensation of scanning motor
CN112882509A (en) * 2021-01-19 2021-06-01 上海井荥机器人科技有限公司 Infrared moxibustion therapy instrument and temperature control method thereof
CN113126066A (en) * 2019-12-26 2021-07-16 华为技术有限公司 Laser safety circuit and laser safety equipment
CN113616935A (en) * 2021-09-15 2021-11-09 山东印迹生物技术有限公司 Laser acupuncture device and control system
CN111345916B (en) * 2020-04-23 2024-06-11 合肥工业大学 Intelligent oral cavity laser therapeutic instrument

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102500067B (en) * 2011-11-02 2014-12-17 江南大学 Ultrasonic moxibustion instrument
CN102500067A (en) * 2011-11-02 2012-06-20 江南大学 Ultrasonic moxibustion instrument
CN106033143A (en) * 2015-03-19 2016-10-19 上海和辉光电有限公司 Circular polarization framework and adjusting method thereof
CN106511076A (en) * 2016-12-22 2017-03-22 白云绮 Acupuncture instrument capable of transmitting terahertz quantum wave information
CN109350510B (en) * 2018-08-27 2021-06-22 重庆市中医院 Automatic fire needle therapeutic apparatus and operation method thereof
CN109350510A (en) * 2018-08-27 2019-02-19 重庆市中医院 A kind of automatic fire needle therapeutic apparatus and its operating method
CN109341566A (en) * 2018-08-30 2019-02-15 南京理工大学 A kind of round-the-clock online two-dimensional contour shape detector of stand alone type
CN110051537A (en) * 2019-05-22 2019-07-26 赵升 A kind of smooth spoke internal heat type acupuncture needle
CN111132422A (en) * 2019-12-10 2020-05-08 中移（杭州）信息技术有限公司 Tunnel management method, device and system
CN113126066A (en) * 2019-12-26 2021-07-16 华为技术有限公司 Laser safety circuit and laser safety equipment
CN111345916A (en) * 2020-04-23 2020-06-30 合肥工业大学 Intelligent oral cavity laser therapeutic instrument
CN111345916B (en) * 2020-04-23 2024-06-11 合肥工业大学 Intelligent oral cavity laser therapeutic instrument
CN111736523A (en) * 2020-06-23 2020-10-02 吉林省科英激光股份有限公司 Control system and method capable of realizing zero position compensation of scanning motor
CN111736523B (en) * 2020-06-23 2022-11-29 吉林省科英激光股份有限公司 Control system and method capable of realizing zero position compensation of scanning motor
CN112882509A (en) * 2021-01-19 2021-06-01 上海井荥机器人科技有限公司 Infrared moxibustion therapy instrument and temperature control method thereof
CN112882509B (en) * 2021-01-19 2022-03-25 上海井荥机器人科技有限公司 Infrared moxibustion therapy instrument and temperature control method thereof
CN113616935A (en) * 2021-09-15 2021-11-09 山东印迹生物技术有限公司 Laser acupuncture device and control system

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